Direct pipetting in computer-controlled liquid handling workstations

ABSTRACT

In a control method for a computer-controlled liquid handling workstation with a work surface, a motorized pipetting robot with at least one pipette, and a control computer, to which the pipetting robot is connected, a control program activated in the control computer enables the pipetting robot to position the pipette at specific positions on the work surface and to execute a specific action using the pipette. The interface includes an input mechanism, visualization mechanism, interface software, and an electronic memory. The visualization mechanism visualizes the positions at which containers are situated on the work surface of the liquid handling workstation and a selection of the specific actions executable using the pipettes.

RELATED PATENT APPLICATIONS

This international patent application claims priority of the Swisspatent application No. 00644/08 of Apr. 24, 2008 and of the U.S.Provisional Application No. 61/054,668 of May 20, 2008. The entirecontent of these two priority applications is incorporated herein forall purposes and intents.

TECHNICAL FIELD OF THE INVENTION

The invention relates to an interface for a computer-controlled liquidhandling workstation according to the preamble of independent Claim 1.Liquid handling workstations of this type comprise a work surface forthe placement of containers, a motorized pipetting robot, and a controlcomputer. This work surface is preferably oriented essentiallyhorizontally. The pipetting robot preferably comprises at least onepipette for aspirating and dispensing liquid samples. Typically, each ofthese pipettes is fluidically connected via an individual line to anactivatable pump, preferably to a motorized piston pump or to amicro-diaphragm pump. Usually, the control computer is electricallyconnected to the pipetting robot and its pumps. At least parts of acontrol program activated in this control computer enable the pipettingrobots to position the at least one pipette at specific positions on thework surface and execute a specific action there using the at least onepipette. Typically, such specific actions are selected from a group ofactions which comprise the receiving, flushing, and discarding of apipette tip and the aspirating, mixing, and dispensing of a volume of aliquid sample.

RELATED PRIOR ART

Computer-controlled liquid handling workstations of this type are knownper se and are built and sold by the current applicant under the tradename FREEDOM EVO, for example. Such more or less complex liquid handlingworkstations comprise a control computer, which is equipped with controlsoftware. Such control software typically offers a user a broad paletteof possible applications, such as sample preparation or reagentaddition, production of dilution series, enhancing density of thecontent of microplates having 96 wells on microplates having 384 wells,and many more. In accordance with the construction of the controlsoftware, it is expected of a user that he (preferably with the aid ofan implemented user guide) establishes the detailed execution of asequence of work steps in a so-called script. Scripts of this type maybe stored in the control computer and processed using the liquidhandling workstation immediately or at a later time. The control of thepipetting robot, as it is established in the control program in thecontrol computer, is thus based on such scripts in the form of softwareinstructions fixed in tabular form.

From US 2006/0048846 A1 an instrumentation control software is known forcontrolling a liquid handling instrument. In order to define a sequenceof working steps to be carried out in the liquid handling instrument,the selectable means are displayed in a name list (most of the time as apull-down menu). This software enables a user to control a liquidhandling instrument via assembling a list of commands (names) in arelative extensive but rather complex way. Working with this software isfurther complicated by a unique non-validation mode

From U.S. Pat. No. 5,841,959 a robotic interface for programming anautomated liquid handling apparatus is known. In order to define asequence of working steps to be carried out with the liquid handlingapparatus, the selectable means (e.g. “aspirate”, “dispense”, Z-driveup/down”) are displayed on a display screen as a series of icons fromwhich a “string” of icons is to be composed. The individual iconsarranged in the order of the process to be carried out. At least one ofthese first icons (providing a visual representation of a function ofthe apparatus) can be selected and expanded to show second icons thatcomprise the function of said at least one of the first icons, at leastone of the second icons representing a sub-function of the apparatus.Also this robotic interface enables a user to control a liquid handlinginstrument via assembling a list of commands (icons) in a relativeextensive but rather complex way, including editing the functions of theicons.

From US 2008/0063570 A1 a sample analyzer is known to include: a reagentarranging section, an analyzing section, a display device, an inputdevice, and a display control section for displaying a reagentarrangement and indicating a plurality of reagent marks that are relatedto a particular reagent. By arrangement of each reagent mark on thedisplay corresponds to arrangement of the each reagent on the reagentarranging section, the display control section displaying detailedinformation about the reagents that correspond to the reagent markselected by the input device on the display device. Complex informationand activities (provision of samples and reagents, mixing of samples andreagents, and analysis of these mixtures) can be monitored andcontrolled via a management touch screen. The touch screen in additioncomprises start and stop buttons form commencement and termination ofthe analysis.

From WO 00/70490 A2, methods, apparatus, articles of manufacture, anduser interfaces for performing automated biological assay preparationand macromolecule purification are known. Also disclosed is a graphicaluser interface (GUI) for preparing the assays and macromoleculepurification. As demonstrated with flow charts, different sets of userspecific method parameters and steps are defined and compared with eachother, the sets of steps then being executed one after the other.Alternatively, a first set of user specific method parameters is createdand then checked for intern incompatibility before carrying out the setof working steps. All sets comprise diverse checking and/or decisionsteps.

OBJECT AND SUMMARY OF THE INVENTION

The object of the present invention is to propose an interface and/or amethod, using which a computer-controlled liquid handling workstationmay be remotely controlled in real time and without preparing aprogramming script for executing simpler liquid handling actions.

This object is achieved according to a first aspect by the features ofthe independent Claim 1 or 2 respectively, in that two alternativeversions of an interface are proposed for a computer-controlled liquidhandling workstation. The workstation comprises:

-   (a) an essentially horizontally oriented work surface for the    placement of containers;-   (b) a motorized pipetting robot, having at least one pipette for    aspirating and dispensing liquid samples;-   (c) a control computer, to which the pipetting robot is electrically    connected, at least parts of a control program activated in this    control computer enabling the pipetting robot to position the at    least one pipette at specific positions on the work surface and to    execute a specific action there using the at least one pipette,    wherein the interface is connectable to the control computer or    integrated therein and comprises input means, visualization means,    interface software, and an electronic memory, the visualization    means at least being implemented to visualize in the form of icons    the positions at which containers are situated on the work surface    of the liquid handling workstation and a selection of the specific    actions executable using at least one pipette, and wherein    information about these pipettes and positions are storable in the    electronic memory and retrievable therefrom using the interface    software.

The interface for a computer-controlled liquid handling workstationaccording to a first and preferred alternative of the invention ischaracterized in that the interface and the interface software areimplemented to visualize as icons at least one pipette, optionallyselected by the input means or by the interface, and at least onedesignated pipetting position on a specific container, and in that theinterface and the interface software are implemented to direct thepipetting robot of the computer-controlled liquid handling workstationto position the selected pipettes at the designated pipetting positionsof the specific container immediately after designating the specificposition and prior to executing the selected specific action.

The interface for a computer-controlled liquid handling workstationaccording to a second alternative of the invention is characterized inthat the interface and the interface software are implemented tovisualize as icons at least one pipette, optionally selected by theinput means or by the interface, and at least one designated pipettingposition on a specific container, and in that the interface and theinterface software are implemented to visualize, in a 2D or 3Dsimulation, the pipetting robot of the computer-controlled liquidhandling workstation to virtually position the selected pipettes at thedesignated pipetting positions of the specific container immediatelyafter designating the specific position and prior to executing theselected specific action.

This object is achieved according to a second aspect by the features ofthe invention, in that two alternative versions of a method are proposedfor the remote control of such a computer-controlled liquid handlingworkstation.

The method according to the invention defines a use of an interface fora computer-controlled liquid handling workstation, the workstationcomprising:

-   (a) an essentially horizontally oriented work surface for the    placement of containers;-   (b) a motorized pipetting robot, having at least one pipette for    aspirating and dispensing liquid samples;-   (c) a control computer, to which the pipetting robot is electrically    connected, at least parts of a control program activated in this    control computer enabling the pipetting robot to position the at    least one pipette at specific positions on the work surface and to    execute a specific action there using the at least one pipette,    wherein the interface is connected to the control computer or    integrated therein and comprises input means, visualization means,    interface software, and an electronic memory, the visualization    means at least being implemented to visualize in the form of icons    the positions at which containers are situated on the work surface    of the liquid handling workstation and a selection of the specific    actions executable using at least one pipette, and wherein    information about these pipettes and positions are stored in the    electronic memory and retrieved therefrom using the interface    software.

The method according to a first and preferred alternative of the presentinvention is characterized in that the interface and the interfacesoftware are used to visualize as icons at least one pipette, optionallyselected by the input means or by the interface, and at least onedesignated pipetting position on a specific container, and in that theinterface and the interface software are used to direct the pipettingrobot of the computer-controlled liquid handling workstation to positionthe selected pipettes at the designated pipetting positions of thespecific container immediately after designating the specific positionand prior to executing the selected specific action.

The method according to a second alternative of the present invention ischaracterized in that the interface and the interface software are usedto visualize as icons at least one pipette, optionally selected by theinput means or by the interface, and at least one designated pipettingposition on a specific container, and in that the interface and theinterface software are used to visualize, in a 2D or 3D simulation, thepipetting robot of the computer-controlled liquid handling workstationand to virtually position the selected pipettes at the designatedpipetting positions of the specific container immediately afterdesignating the specific position and prior to executing the selectedspecific action.

Additional preferred features according to the invention result from theparticular dependent claims.

In the context of the present invention, the term “remote or remotely”is to be understood as “human effected input means for controlling thecontrol computer of the liquid handling workstation. Examples of suchinput means are well known as e.g. a keyboard.

The term “electrically connected”, which describes the connectionbetween pipetting robot and control computer, is to be understood as“functionally connected by electrically conductive wires, wirelessconnections, electronic connection or by any useful connection usingelectromagnetic waves”.

The term “control computer” is to be understood as “any digital controldevice” that is implemented as e.g. a microprocessor chip incorporatedin the workstation, a microprocessor chip incorporated in a personalcomputer or other internal or external digital control equipment.

The term “fluid” is to be understood as “any non-solid material like agas or liquid, or a gas/liquid mixture”. In consequence, the term“fluidically connected” is to be understood as “connect such that afluid may pass through the connection line”.

The present invention comprises the following advantages:

-   -   A complex liquid handling workstation may be remote-controlled        using a simple interface which enables intuitive operation.        Specific pipettes may be selected on a touch screen using a        finger or instrument by touching the icons or virtual switches        and specific work may be assigned to these pipettes, upon which        the interface causes the liquid handling workstation to execute        this work immediately.    -   The immediate execution of the commands input in the interface        may be visually tracked in real time on the liquid handling        workstation, so that the impression arises for the user that he        controls the entire liquid handling workstation using his finger        or a control pen, for example.    -   The visualization of the pipetting robot of the        computer-controlled liquid handling workstation in a 2D or 3D        simulation and virtually positioning the selected pipettes at        the designated pipetting positions of the specific container        immediately after designating the specific position enables a        user to configure specific actions and series of specific        actions without the need to occupy the real robot of the liquid        handling workstation. Also complete offline work and the        preparation and storage of specific actions and series of        specific actions with limited or even without any connection to        the liquid handling workstation is possible. However, the        optical control of the selected pipettes, positions and actions        is only virtual.    -   Interactive error handling allows immediate engagement in        running or triggered processes. For example, if the intended        quantity of liquid cannot be aspirated from the selected        container (for example, because the trough is empty), the user        has the capability of inputting appropriate alternative        commands. For example, an alternative trough may be activated        using the pipette, in order to aspirate the necessary liquid        volume therefrom. However, the empty trough may also be refilled        or replaced with a full one.

BRIEF INTRODUCTION OF THE DRAWINGS

The present invention is explained in greater detail hereafter using thefigures appended to this application. These figures disclose preferredembodiments of the invention without restricting its scope. In thefigures:

FIG. 1 shows an overview diagram of the situation of a user in relationto a liquid handling workstation with the interposed interface;

FIG. 2 shows a top view of a work surface of the liquid handlingworkstation having a pipetting robot, various labware (containers) beingplaced on the work surface;

FIG. 3 shows a first screenshot of the visualization means (displayscreen) according to a preferred embodiment, having a selected item oflabware (microplate);

FIG. 4 shows a flow chart of a main working level with optional actionsand optional sequences of actions;

FIG. 5 shows the selection of a pipetting position in a first flow chartof a second working level with a fixed sequence of actions;

FIG. 6 shows the configuration of pipette tips in a second flow chart ofa second working level with fixed sequence of actions;

FIG. 7 shows a second screenshot of the visualization means (displayscreen) according to a preferred embodiment, having the layout of thework surface of the liquid handling workstation.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

FIG. 1 shows an overview diagram of the situation of a user in relationto a liquid handling workstation with the interposed interface accordingto the invention. This interface 1 is capable of the remote control of acomputer-controlled liquid handling workstation 2.

FIG. 2 shows a top view of a work surface of a liquid handlingworkstation 2 having a pipetting robot 5, various containers 4 beingplaced on the work surface 3. A selection of preferred containers 4 suchas sample tubes 27, which are preferably placed in so-called “racks” onthe work surface 3 of the liquid handling workstation 2, or microplates25 having 24, 96, 384, or 1536 wells, for example, is shown here. Thepreferred containers also include so-called troughs 24 and furthercontainers 4′,4″ (not shown here) for at least temporarily storingliquids.

Furthermore, the workstation 2 comprises a motorized pipetting robot 5having at least one pipette 6 for aspirating and dispensing liquidsamples 7. A pipetting robot 5 is shown here, which may be moved in thelongitudinal axis (X) of the liquid handling workstation 2 and which haseight pipettes 6, each having a pipette tip 14, which can be moved, in adirection (Y) perpendicular to the X axis, transversely over the worksurface 3 of the liquid handling workstation 2 and may be lowered at anyarbitrary location on this work surface 3.

Each pipette 6 preferably is fluidically connected via an individualline 8 to an activatable pump 9. This means that a liquid (e.g., systemliquid), a gas (e.g., inert gas), or a combination of both (e.g., systemliquid with air gap) is present between the conveying element of thepump and the pipette 6 and/or its pipette tip 14, using which a liquidsample 7 is to be aspirated and/or dispensed. The conveying element ofthe pump may be a pump piston, a diaphragm, or a combination of both.Gear wheel pumps or peristaltic pumps may also be used for conveying(aspirating and/or dispensing) liquids; in fact, the interface 1according to the invention for a computer-controlled liquid handlingworkstation 2 is practically independent of the particular pumptechnology used for conveying liquids and/or fluids.

In addition, the liquid handling workstation 2 comprises a controlcomputer 10, to which the pipetting robot 5 (and/or its drives, whichare not shown here) and its pumps 9 (and/or their drives, which are alsonot shown here) are electrically connected. At least parts of a controlprogram 11 activated in this control computer 10 enable the pipettingrobot 5 to position the at least one pipette 6 at specific positions12,12′,12″ on the work surface 3 and execute a specific action 13 thereusing the at least one pipette 6. The specific actions are known tothose skilled in the art from the field of liquid handling and comprisethe receiving, flushing, and/or discarding of a pipette tip 14 and theaspirating, mixing, and/or dispensing of a volume 15 of a liquid sample7. Depending on the selected action or sequence of selected actions 13,the control program 10 enables the pipetting robot 5 to execute them.Such specific positions 12,12′,12″ are selected from the inside 12 oftroughs 24, the wells 12′ of a microplate 25, and the interior 12″ ofsample tubes.

The interface 1 according to the invention is preferably connected tothe control computer 10. However, it may just as well be integrated inthis control computer 10. The advantage of a separate interface 1 is itsflexibility and mobility, which allow this interface to be used atdifferent liquid handling workstations 2 as needed and if desired, onlytemporarily. The advantage of an interface 1 integrated in the controlcomputer 10 of a specific liquid handling workstation 2 is that, forexample, the interface 1 may participate in the computer performance ofthe control computer 10 and its peripheral devices, which are alreadyprovided.

The control computer 10 is preferably a personal computer (PC) or aprocessor integrated in the workstation 2. Therefore, any electronicprocessing unit (CPU) is understood as a control computer 10, whether itis integrated in the workstation 2 (embedded CPU) or only made availablethereto.

The interface 1 according to the invention comprises (as shown in FIG.1), input means 16, visualization means 17, interface software 18, andan electronic memory 19.

Input means 16 which are selected from a group which comprises acomputer mouse 21 or a touchpad 22 are preferred. These two alternativeinput means are capable of moving an arrow or another indicator on adisplay screen and clicking on virtual switches 28,28′ or so-called“icons” 35 thereon. The use of a sensor display screen 23, i.e., aso-called “touch screen”, is especially preferred, because it issimultaneously used as the input means 16 (for example, by finger touch)and also as the visualization means 17. The list of the input means 16may be lengthened arbitrarily, thus, for example, graphic tablets orjoysticks may also be used for selecting and operating the visualizedoperating elements of the interface 1.

The visualization means 17 are at least implemented for visualizing theavailable pipettes 6, the positions 12,12′,12″, at which containers 4are situated on the work surface 3 of the liquid handling workstation 2,and a selection of the specific actions 13 executable using the pipettes6. In order that the necessary information about these pipettes 6 andpositions 12,12′,12″ on the labware items may be stored in the interface1, it comprises an electronic memory 19, from which this information isretrievable using the interface software 18 on demand.

FIG. 3 shows a first screenshot of preferred visualization means (sensordisplay screen 23) according to a preferred embodiment. The labwareselected here is a microplate 25 having 96 wells 26.

The remote control of the computer-controlled liquid handlingworkstation 2 is performed as follows: by selecting at least oneavailable pipette 6 and one specific action 13 and/or the position12,12′,12″ of a specific container 4 or labware, which is visualized asicons 35 using the visualization means 17, using the input means 16, theinterface software 18 activates the control program 11 directly so thatthe pipetting robot 5 positions the at least one selected pipette 6directly at the selected position 12,12′,12″ on the labware and/orexecutes a selected specific action 13 using the selected pipette 6.Such specific positions 12,12′,12″ are selected from the inside 12 oftroughs 24, wells 12′ of a microplate 25, and the interior 12″ of sampletubes.

In detail, remote-controlled liquid handling work of this type runs asfollows, for example:

-   1. The uppermost pipette 6 (the rearmost on the work surface 3 of    the liquid handling workstation 2) has been selected on the    screenshot in FIG. 3 (see left side of FIG. 3). This was performed    here by tapping the pipette 6 using a finger or tool (operating    stylus), as such tools are known from working with a graphic user    interface (a so-called “GUI”). Alternatively, this pipette 6 may be    selected by clicking using a mouse or selection using a touchpad.    The corresponding field on the display screen preferably changes    color, as shown. In addition, and immediately after clicking, the    selected pipette or pipettes are moved down by the pipetting robot 5    for some time and distance to enable the operator to optically    confirm his selection of pipettes 6.-   2. As the special action 13, the user has selected the option    “aspiration”, upon which the corresponding icon 35 has been shown    larger and brought forward at least partially from the gray option    field (see right side of FIG. 3).-   3. By actuating the virtual switches 28,28′, the user has set the    desired volume to 10 μl, as is visible on the volume display 29.-   4. The user has then also determined the target of the action, the    well A/4, by tapping, upon which the pipetting robot 5 has    immediately positioned the rearmost pipette 6 above the well A/4    (emphasized here by a dashed square) of this microplate 25. The    position selected for the pipette 6 (for example, top left on the    display screen) is displayed simultaneously. Further options (not    selected here) comprise dispensing a liquid sample 7 (icon 35 having    arrow directed into the container) and washing the pipette tip (icon    35 identified by three waves).-   5. To start a pipetting or dispensing process, the user must hold a    finger, tool, or another display and/or input device for a certain    time on the selected process sign or the container selection (well    A/4 here). This has the advantage that only intentionally triggered    processes are executed, and, for example, unintentional tapping of    an icon 35 still cannot trigger a process. Moreover, an additional    actuation button is not necessary and beeping signals (which may    annoy coworkers) for acknowledging commands may be dispensed with.    -   A dwell or activation time of approximately 5 to 10 seconds is        preferred; however, this time may also be lengthened or        shortened. The status display 30 preferably comprises a status        bar 34 having a first function: the passage of the dwell or        activation time is displayed, so that the status bar 34 of this        status display 30 fills up completely upon the passage of the        dwell or activation time. The successful ending of a specific        action 13 is again displayed by the status bar 34, which        preferably assumes a green color in the event of a positive        result or a red color in the event of a negative result.

Preferably, at least one virtual switch 28,28′ for increasing orreducing the volume 15 of a liquid sample 7 is visualized using thevisualization means 17. The currently selected volume 15 is preferablymade visible in a volume display 29. Using the visualization means 17 alabware selection display 33 is preferably also made visible. Such apreferred labware selection display 33 comprises a virtual X button forchanging over the visualized view. For example, by clicking or tappingthe X button, a changeover is made to the display screen according toFIG. 4. Additional display screen representations may also be selected,such as the selection of various disposable pipette tips, so-called“disposable tips” (not shown). Such a preferred labware selectiondisplay 33 preferably also comprises a forward button (>) and a backbutton (<), so that the individual types of containers 4 or “labware”,which are present on the work surface 3 of the liquid handlingworkstation 2 and are stored in the electronic memory 19, may beselected using scrolling.

In order to discuss the just described working steps in more detail andto demonstrate ease and flexibility of working with the interfaceaccording to the invention, flow charts are added to the application.

FIG. 4 shows a flow chart of a main working level with optional actionsand optional sequences of actions. This main work flow chart is arepresentation of four first level actions, which consist (in thesequence as shown) of:

-   Pipette Configuration this is an optional action in order to define    the pipette 6 (or the pipettes 6) that is (are) selected for    carrying out intended specific actions (details see FIG. 6).    Immediately after defining, the selected pipette or pipettes 6 are    moved down by the pipetting robot 5 for some time and distance to    enable the operator to optically confirm his pipette configuration.    -   Alternatively, the interface 1 automatically defines a pipette        configuration according to a requested specific action or        sequence of specific actions and according to a number of        defined specific positions 12,12′,12″.-   Select Command this is a mandatory action in order to select    specific actions from e.g. aspirate, dispense, mix.-   Select Pipetting Position this is a mandatory action in order to    define the specific positions 12,12′,12″ where a specific action has    to be carried out (see FIG. 5).-   Define Liquid Parameters this is an optional action, because the    required liquid parameters may be already defined (if not, the user    can define the volume as shown already, the liquid class of the    sample to be pipetted etc.).

It is important to point out that the actual sequence of selecting thesefour actions is not important as the software automatically collects therequested activations of actions. Thus, the user can execute theactivation of these for actions in the order he likes best. In any case,the operator has to select a pipetting position, because the liquidhandling instrument is to be instructed where the user demands it tocarry out a certain action.

The FIG. 5 shows the selection of a pipetting position in a flow chartof a second working level with a fixed sequence of actions:

-   1. The labware (e.g. a microplate 25 with 24, 96, or 384 wells) is    selected. This selection can address one single labware or a number    of labware according to the desired liquid handling process.-   2. The specific position 12,12′,12″ (the well 26) where the action    has to be carried out with respect to the chosen labware is to be    designated. This designation can address one single well or a number    of wells according to the desired liquid handling process and    according to the selected pipette configuration. Such specific    positions 12,12′,12″ are selected from the inside 12 of troughs 24,    wells 12′ of a microplate 25, and the interior 12″ of sample tubes.-   3. As soon as the labware is selected and the position in that    labware is designated, the liquid handling or pipetting robot 5    instantly moves the selected pipette tip 14 to the designated    specific position 12,12′,12″ on the labware. This allows a user    controlling immediately and optically, whether the liquid handling    robot 5 effectively will carry out the requested action at the right    place. This unique feature gives the user the impression that he    directs the liquid handling robot e.g. with a movement of his finger    tip.

After selecting the correct pipettes, actions and parameters, the usermust activate the selected process sign, the selected container 4 (or anadditional confirmation key) for a certain dwell or activation time inorder to avoid carrying out unintentional operations (see point 5above). The user thus is carrying out the next step “Confirm Execution”as a mandatory action (see FIG. 4). The liquid handling or pipettingrobot 5 then (immediately after completion of the dwell or activationtime) executes the command (see last step in FIG. 4). After completionof the command, a new action can be selected according to the same or asimilar scheme.

FIG. 6 shows the configuration of pipettes 6 in a second flow chart of asecond working level with fixed sequence of actions:

-   1. One or more pipettes 6 are selected according to the desired    liquid handling process by using the input means 16.    -   Alternatively, the interface 1 automatically defines a pipette        selection according to a requested specific action or sequence        of specific actions and according to a number of defined        specific positions 12,12′,12″.-   2. Upon defining the pipette configuration, the selected pipette or    pipettes 6 are immediately moved down and up by the pipetting robot    5 for some time and distance to enable the operator to optically    confirm his pipette configuration. This unique feature gives the    user the impression that he directs the liquid handling robot e.g.    with a movement of his finger tip.

In the case no pipette tip 14 is mounted on the pipettes 6 of the liquidhandling robot 5, a selected pipette 6 with its empty cone for taking upa pipette tip 14 is moved to the designated position 12,12′,12″ on thelabware instead. The user then will recognize that a pipette tip 14 isto be mounted (or to be replaced in case the liquid handling orpipetting robot 5 is carrying a wrong pipette tip 14). The selection cancomprise antecedent disposal of an already mounted pipette tip 14. Assoon as the pipette tip 14 is selected, the liquid handling robot 5instantly moves its respective pipette cone to the selected pipette tip14. This allows a user controlling immediately and optically, whetherthe liquid handling or pipetting robot 5 effectively will pick up therequested pipette tip. This unique feature gives the user the impressionthat he directs the liquid handling robot e.g. with a movement of hisfinger tip.

After selecting the correct actions, parameters, and pipette tips, theuser must activate the selected process sign, the selected container (oran additional confirmation key) for a certain dwell or activation timein order to avoid carrying out unintentional operations (see point 5above). The user thus is carrying out the next step “Confirm Execution”as a mandatory action (see FIG. 4). The liquid handling robot 5 then(immediately after completion of the dwell or activation time) executesthe command (see last step in FIG. 4). After completion of the command,a new action can be selected according to the same or a similar scheme.

FIG. 7 shows a second screenshot of the visualization means 17 (displayscreen) according to a preferred embodiment, having the layout of thework surface of the liquid handling workstation. As already described,the visualization means 17 may be a graphic user interface (GUI), animage projecting instrument, or a display screen 20, on which theavailable pipettes 6, the positions 12 at which containers 4 aresituated on the work surface 3 of the liquid handling workstation 2, anda selection of the specific actions 13 executable using the pipette 6are graphically displayed as icons 35 and are selectable using the inputmeans 16. All types of display screens come into consideration, such ascomputer display screens, television display screens, and othermonitors. A so-called “video projector” or projector may be used as theimage-projecting instrument. The image for the visualization may beprojected on a wall, a screen, or also in or on the retina (e.g.,projector spectacles) of the observer. Two carriers 32, which areimplemented in this case for carrying three microplates, are also shown.In addition, a washing station 31 is shown, in which the pipette tipsmay be flushed using one or more washing liquids.

The input means 16 are especially preferably a display screen 23, onwhich the available pipettes 6, the positions 12 at which containers 4are situated on the work surface 3 of the liquid handling workstation 2,and a selection of the specific actions 13 executable using the pipettes6 are graphically represented as icons 35 and selectable by fingertouch.

As shown in FIG. 3, at least one container 4 may be visualized using thevisualization means 17, the container being selected from a group ofcontainers which comprises at least one trough 24, at least onemicroplate 25 having a number of wells 26, or at least one sample tube27. Tapping or clicking a container 4 which is made visible using thevisualization means 17 causes its selection and simultaneously achangeover to the display according to FIG. 3. Preferably, at least onestatus display 30 is visualized using the visualization means 17, whichdisplays the passage of a waiting and/or activation time or the qualityof the currently executed work of a specific action 13.

A preferred method for the remote control of a computer-controlledliquid handling workstation 2 is characterized in that the informationabout the available pipettes 6 and the positions 12 of the containers 4on the work surface 3 of the liquid handling workstation 2 is visuallyacquired by a user and manually stored in the electronic memory 19.

A particularly preferred method for the remote control of acomputer-controlled liquid handling workstation 2 is characterized inthat the information about the available pipettes 6 and the positions 12of the containers 4 on the work surface 3 of the liquid handlingworkstation 2 are automatically recognized by the control computer 10and stored in the electronic memory 19 of the interface 1. The automaticrecognition of the available pipettes 6, in particular the pipette tipsused, such as steel or plastic needles, disposable pipette tips havingvarious equipment (e.g., filters) and/or volumes, is preferably madeavailable to the interface 1, for example, by a liquid level detectioninstalled in the pipetting robot 5 and may be transmitted easily to theelectronic memory 19 of the interface 1, for example. The automaticrecognition of the positions 12 of the containers 4 and their type (suchas sample tubes 27, microplates 25, troughs 24, and the like) on thework surface 3 of the liquid handling workstation 2 is preferablyexecuted with the aid of RFID (radio frequency identification)technology, each container 4 preferably being equipped with a so-calledRFID label or a “RFID tag”. The application of barcodes also allows theidentification of container types and the establishment of theirpositions. As an alternative to the purely visual acquisition of thecontainer types, pipette types, and their positions, a camera (e.g., avideo camera) may also be used for this purpose, whose data are providedto the computer for processing via suitable software.

A sequence of specific actions 13 which has just been executed ispreferably stored in electronic memory 19, so that this sequence may beretrieved at a later time from this memory 19 as an identical sequenceof specific actions 13 and automatically executed once or also multipletimes.

The interface 1 according to the invention allows an intuitive,interactive selection of the commands, containers, and individualactions. Individual actions may be assembled iteratively into series orsequences of actions, so that complex processing sequences may beperformed, as are needed, for example, during repipetting, production ofdilution series, and concentration of the content of microplates having96 wells to microplates having 384 wells. The selected control commandsfor single actions, but also for entire processing sequences, arepreferably stored in the electronic memory and may be retrieved asneeded and, as a result, processed once or multiple times (preferablyautomatically).

The reference numerals in the figures each indicate identical elements,even if they are not described in detail in each case.

LIST OF REFERENCE NUMERALS

-   1 interface-   2 liquid handling workstation-   3 work surface-   4,4′,4″ container-   5 pipetting robot-   6 pipette-   7 liquid samples-   8 individual line-   9 activatable pump-   10 control computer-   11 control program-   12,12′,12″ positions-   13 specific action-   14 pipette tip-   15 volume-   16 input means-   17 visualization means-   18 interface software-   19 electronic memory-   20 display screen-   21 computer mouse-   22 touchpad-   23 sensor display screen-   24 trough-   25 microplate-   26 well-   27 sample tube-   28,28′ virtual switch-   29 volume display-   30 status display-   31 washing station-   32 carrier-   33 labware selection display-   34 status bar-   35 icon

The invention claimed is:
 1. A control method for a computer-controlledliquid handling workstation (2), the method comprising the followingsequence of steps: i) providing a computer-controlled liquid handlingworkstation (2) comprising: (a) an essentially horizontally orientedwork surface (3) for the placement of containers (4); (b) a motorizedpipetting robot (5), having at least two pipettes (6) for aspirating anddispensing liquid volumes; (c) a control computer (10), to which thepipetting robot (5) is electrically connected, at least parts of acontrol program (11) activated in this control computer (10) enablingthe pipetting robot (5) to position at least one of the pipettes (6) atspecific positions (12,12′,12″) with respect to the work surface (3) andto execute a specific action there using at least one of the pipettes(6); and (d) an interface (1), which is connectable to the controlcomputer (10) or integrated therein and which comprises input means(16), and visualization means (17); ii) visualizing as icons the atleast two pipettes (6), at least one specific position (12,12′,12″) atwhich at least one container or labware is situated (4) on the worksurface (3) of the liquid handling workstation (2), and at least oneaction executable using at least one of the pipettes (6) from a group ofactions comprising receiving, flushing, or discarding a pipette tip(14), aspirating, mixing, and dispensing of a volume (15) of a liquidsample (7), using the visualization means (17); iii) selecting at leastone pipette (6) using the input means (16), thereby defining a pipetteconfiguration; iv) moving down and up the at least one selected pipette(6) immediately after defining the pipette configuration in step iii),using the pipetting robot (5), this movement of the at least oneselected pipette (6) enabling the operator to confirm the definedpipette configuration; v) designating at least one specific position(12,12′,12″) of at least one container or labware, visualized in stepii), where the at least one selected pipette (6) is to execute at leastone action visualized in step ii), using the input means (16); vi)moving the at least one selected pipette (6) to the designated specificposition (12,12′,12″) immediately after designating said position instep v), using the pipetting robot (5), this movement of the at leastone selected pipette (6) using the pipetting robot (5) of thecomputer-controlled liquid handling workstation (2) enabling theoperator to confirm the designation of step v); vii) selecting at leastone of the actions visualized in step ii) using the input means (16);and viii) executing the at least one action selected in step vii) usingthe at least one selected pipette (6) which has been moved to thedesignated specific position (12,12′,12″) in step vi), wherein themovement of the at least one selected pipette in step iv) and step vi)is carried out prior to the selecting at least one of the actions ofstep vii) and the executing the at least one action of step viii). 2.The control method according to claim 1, further comprising the step of:using a graphic user interface (GUI), an image-projecting instrument, ora display screen (20) as the visualization means (17).
 3. The controlmethod according to claim 1, further comprising the step of: selectingthe input means (16) from a group which comprises a computer mouse (21),a touchpad (22), a graphic tablet, a joystick, and a sensor displayscreen (23).
 4. The control method according to claim 1, furthercomprising the step of: selecting at least one container (4) from agroup of containers which comprises at least one trough (24), at leastone microplate (25) having a number of wells (26), and at least onesample tube (27) or any combination thereof.
 5. The control methodaccording to claim 1, wherein the at least one designated position(12,12′,12″) on a visualized container (4) or labware visualized in stepii) and selected in step iv) is visualized using the interface (1).